상세정보
학술지
드론 시뮬레이션 기술
- 발행일
- 202008
- 출처
- 전자통신동향분석, v.35 no.4, pp.81-90
- ISSN
- 1225-6455
- 출판사
- 한국전자통신연구원
- 협약과제
- 20ZS1200, 인간중심의 자율지능시스템 원천기술연구, 김도현
- 초록
- In this paper, we present novel simulation contents for drone racing and autonomous flight of drone. With Depth camera and SLAM, we conducted mapping 3 dimensional environment through RTAB-map. The 3 dimensional map is represented by point cloud data. After that we recovered this data in Unreal Engine. This recovered raw data reflects real data that includes noise and outlier. Also we built drone racing contents like gate and obstacles for evaluating drone flight in Unreal Engine. Then we implemented both HITL and SITL by using AirSim which offers flight controller and ROS api. Finally we show autonomous flight of drone with ROS and AirSim. Drone can fly in real place and sensor property so drone experiences real flight even in the simulation world. Our simulation framework increases practicality than other common simulation that ignore real environment and sensor.
- KSP 제안 키워드
- Autonomous flight, Depth camera, Point Cloud Data, Real data, Real environment, Simulation framework, Unreal engine, flight controller, noise and outlier, raw data
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